version: 66.06
glider: 148
mission: 9
dive: 577
start: 1 24 111 22 3 41
data:
$ID,148
$MISSION,9
$DIVE,577
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,650
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-870743.44
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.449877
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,215201,2249.412,-15757.848,37,1.5,37,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-68.7
$GPS2,220249,2249.529,-15757.868,15,1.6,33,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.038,0.169
$KALMAN_X,-112087.2,-302.2,-43.3,133072.0,912.4
$KALMAN_Y,-211859.3,144.4,88.9,340597.6,-1711.2
$MHEAD_RNG_PITCHd_Wd,2.6,1719,-27.2,-10.000
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.78,-63.0,0.0,0.0,0,88,0.00,0.00,-67.60,0.000,2,0.000,0.000,411,1851,3201,0,0,0,0,0,0
$GC,91,-1.86,-131.6,3.1,-2.7,9,123,10.93,2.50,-9.60,0.000,4,0.158,0.043,2446,3369,3660,0,0,0,0,0,0
$GC,208,-1.86,-131.6,31.2,-21.6,26,217,0.00,2.58,0.00,0.000,6,0.000,0.025,2446,1787,3661,0,0,0,0,0,0
$GC,474,-1.86,-131.6,93.4,-22.6,51,478,0.00,2.58,0.00,0.000,4,0.000,0.031,2446,3372,3662,0,0,0,0,0,0
$GC,494,-1.86,-131.6,99.1,-21.0,52,503,0.00,2.55,0.00,0.000,6,0.000,0.024,2446,1795,3662,0,0,0,0,0,0
$GC,760,-1.86,-131.6,152.0,-20.2,77,764,0.00,2.58,0.00,0.000,4,0.000,0.037,2446,201,3663,0,0,0,0,0,0
$GC,778,-1.86,-131.6,156.9,-19.5,78,787,0.00,2.55,0.00,0.000,6,0.000,0.020,2446,1816,3664,0,0,0,0,0,0
$GC,1050,-1.86,-131.6,208.5,-18.8,101,1054,0.00,2.62,0.00,0.000,4,0.000,0.037,2446,208,3664,0,0,0,0,0,0
$GC,1070,-1.86,-131.6,212.5,-18.6,101,1074,0.00,2.50,0.00,0.000,6,0.000,0.021,2446,1810,3664,0,0,0,0,0,0
$GC,1335,-1.86,-131.6,257.3,-16.6,108,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1813,3665,0,0,0,0,0,0
$GC,1578,-1.93,-131.6,297.1,-16.3,114,1582,0.00,2.65,0.00,0.000,4,0.000,0.041,2446,207,3665,0,0,0,0,0,0
$GC,1606,-2.00,-131.6,301.9,-16.8,114,1610,0.00,2.50,0.00,0.000,6,0.000,0.021,2445,1799,3665,0,0,0,0,0,0
$GC,1861,-2.09,-131.6,343.5,-16.8,121,1862,0.17,0.00,0.00,0.000,6,0.054,0.000,2387,1800,3665,0,0,0,0,0,0
$GC,2105,-2.09,-131.6,391.5,-19.7,127,2110,0.00,2.65,0.00,0.000,4,0.000,0.051,2387,212,3665,0,0,0,0,0,0
$GC,2138,-2.09,-131.6,398.8,-20.7,127,2142,0.00,2.53,0.00,0.000,6,0.000,0.027,2387,1797,3665,0,0,0,0,0,0
$GC,2387,-2.09,-131.6,448.0,-19.7,133,2392,0.00,2.70,0.00,0.000,4,0.000,0.057,2387,218,3665,0,0,0,0,0,0
$GC,2449,-2.09,-131.6,461.2,-21.9,134,2454,0.00,2.53,0.00,0.000,6,0.000,0.034,2387,1771,3664,0,0,0,0,0,0
$GC,2718,-2.09,-131.6,514.7,-19.6,141,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1775,3663,0,0,0,0,0,0
$GC,2961,-2.09,-131.6,559.8,-18.0,147,2966,0.00,2.70,0.00,0.000,4,0.000,0.065,2387,221,3662,0,0,0,0,0,0
$GC,2991,-2.09,-131.6,565.0,-18.5,147,2996,0.00,2.58,0.00,0.000,6,0.000,0.040,2387,1781,3661,0,0,0,0,0,0
$GC,3246,-2.09,-131.6,608.3,-17.0,154,3250,0.00,2.72,0.00,0.000,4,0.000,0.064,2387,215,3659,0,0,0,0,0,0
$GC,3348,-2.09,-131.6,627.3,-17.9,156,3352,0.00,2.58,0.00,0.000,6,0.000,0.043,2387,1764,3658,0,0,0,0,0,0
$GC,3622,-2.09,-131.6,672.4,-16.8,163,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1764,3655,0,0,0,0,0,0
$GC,3864,-2.09,-131.6,713.5,-17.1,169,3869,0.00,2.70,0.00,0.000,4,0.000,0.068,2387,216,3654,0,0,0,0,0,0
$GC,3901,-2.09,-131.6,720.6,-19.0,169,3907,0.00,2.60,0.00,0.000,6,0.000,0.044,2387,1762,3654,0,0,0,0,0,0
$GC,4153,-2.09,-131.6,761.8,-16.5,176,4157,0.00,2.67,0.00,0.000,4,0.000,0.067,2387,221,3652,0,0,0,0,0,0
$GC,4180,-2.09,-131.6,767.4,-18.0,176,4185,0.00,2.58,0.00,0.000,6,0.000,0.044,2387,1761,3652,0,0,0,0,0,0
$GC,4435,-2.09,-131.6,808.4,-16.1,183,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1762,3650,0,0,0,0,0,0
$GC,4680,-2.09,-131.6,845.6,-15.0,189,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1761,3647,0,0,0,0,0,0
$GC,4922,-2.09,-131.6,881.5,-14.8,195,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1761,3646,0,0,0,0,0,0
$STATE,5083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5083,begin apogee
$GC,5088,-0.31,0.0,906.0,15.1,199,5207,1.88,0.00,114.40,1.169,6,0.095,0.000,2791,1682,3120,0,0,0,0,0,0
$STATE,5208,end apogee,CONTROL_FINISHED_OK
$STATE,5208,begin climb
$GC,5210,1.86,131.6,910.1,0.0,202,5339,1.95,0.00,119.75,1.147,6,0.023,0.000,3297,1682,2583,0,0,0,0,0,0
$GC,5577,1.55,131.6,872.7,16.1,211,5584,0.47,2.65,0.00,0.000,4,0.131,0.070,3202,178,2574,0,0,0,0,0,0
$GC,5849,1.29,131.6,832.6,15.2,216,5855,0.30,2.53,0.00,0.000,6,0.137,0.037,3146,1686,2570,0,0,0,0,0,0
$GC,6099,1.29,131.6,805.5,10.5,223,6103,0.00,2.65,0.00,0.000,4,0.000,0.067,3146,182,2569,0,0,0,0,0,0
$GC,6369,1.21,133.2,777.2,9.8,228,6375,0.12,2.50,0.00,0.000,6,0.160,0.037,3125,1677,2567,0,0,0,0,0,0
$GC,6621,1.32,155.8,758.0,7.6,235,6650,0.10,2.70,20.92,1.030,4,0.084,0.068,3160,176,2483,0,0,0,0,0,0
$GC,6915,1.22,155.8,724.7,11.7,241,6920,0.17,2.47,0.00,0.000,6,0.135,0.038,3129,1656,2479,0,0,0,0,0,0
$GC,7185,1.32,155.8,697.1,10.4,248,7189,0.00,2.58,0.00,0.000,4,0.000,0.067,3129,181,2477,0,0,0,0,0,0
$GC,7453,1.32,155.8,665.9,12.5,253,7459,0.00,2.45,0.00,0.000,6,0.000,0.037,3129,1663,2476,0,0,0,0,0,0
$GC,7705,1.42,155.8,641.0,10.0,260,7710,0.17,2.60,0.00,0.000,4,0.059,0.066,3182,177,2476,0,0,0,0,0,0
$GC,7974,1.28,155.8,608.0,10.6,265,7981,0.22,2.45,0.00,0.000,6,0.132,0.035,3140,1655,2474,0,0,0,0,0,0
$GC,8227,1.38,171.0,587.0,8.4,272,8247,0.00,2.65,13.52,0.901,4,0.000,0.064,3140,188,2422,0,0,0,0,0,0
$GC,8496,1.38,171.1,557.7,10.0,277,8500,0.00,2.38,0.00,0.000,6,0.000,0.031,3140,1644,2420,0,0,0,0,0,0
$GC,8746,1.50,178.4,534.2,9.2,283,8762,0.20,2.55,8.15,0.800,4,0.054,0.060,3200,180,2393,0,0,0,0,0,0
$GC,8783,1.34,178.4,530.1,12.4,283,8789,0.25,2.42,0.00,0.000,6,0.127,0.030,3154,1648,2392,0,0,0,0,0,0
$GC,9033,1.42,178.4,504.4,10.2,289,9038,0.00,2.53,0.00,0.000,4,0.000,0.059,3153,180,2391,0,0,0,0,0,0
$GC,9116,1.42,178.4,494.9,12.3,290,9122,0.00,2.40,0.00,0.000,6,0.000,0.028,3153,1664,2391,0,0,0,0,0,0
$GC,9368,1.51,178.4,468.1,10.9,297,9373,0.15,2.60,0.00,0.000,4,0.064,0.061,3201,174,2390,0,0,0,0,0,0
$GC,9599,1.36,178.4,436.5,13.7,302,9604,0.22,2.38,0.00,0.000,6,0.130,0.027,3159,1648,2389,0,0,0,0,0,0
$GC,9887,1.45,178.4,405.1,10.9,309,9891,0.00,2.50,0.00,0.000,4,0.000,0.058,3159,179,2388,0,0,0,0,0,0
$GC,10092,1.45,178.4,382.1,11.3,313,10096,0.00,2.35,0.00,0.000,6,0.000,0.026,3158,1636,2388,0,0,0,0,0,0
$GC,10356,1.55,188.6,357.8,8.9,320,10373,0.17,2.58,9.98,0.727,4,0.058,0.058,3214,181,2351,0,0,0,0,0,0
$GC,10528,1.41,188.6,336.3,13.8,323,10533,0.22,2.33,0.00,0.000,6,0.127,0.025,3172,1639,2349,0,0,0,0,0,0
$GC,10783,1.49,188.6,310.2,10.2,330,10787,0.00,2.53,0.00,0.000,4,0.000,0.057,3172,171,2348,0,0,0,0,0,0
$GC,10911,1.49,188.6,295.3,11.9,332,10915,0.00,2.35,0.00,0.000,6,0.000,0.025,3172,1641,2348,0,0,0,0,0,0
$GC,11161,1.59,188.6,268.5,10.5,338,11166,0.15,2.53,0.00,0.000,4,0.062,0.056,3223,173,2348,0,0,0,0,0,0
$GC,11419,1.44,188.6,237.1,12.5,343,11424,0.25,2.28,0.00,0.000,6,0.199,0.024,3176,1616,2348,0,0,0,0,0,0
$GC,11681,1.53,189.1,211.0,9.9,350,11685,0.00,2.42,0.00,0.000,4,0.000,0.052,3176,177,2348,0,0,0,0,0,0
$GC,11708,1.53,191.3,207.8,9.8,350,11712,0.00,2.25,0.00,0.000,6,0.000,0.023,3175,1610,2348,0,0,0,0,0,0
$GC,11978,1.64,199.5,181.2,9.1,369,11995,0.17,2.47,11.05,0.602,4,0.055,0.051,3235,171,2306,0,0,0,0,0,0
$GC,12006,1.56,199.5,177.8,11.5,371,12011,0.17,2.30,0.00,0.000,6,0.132,0.023,3203,1614,2304,0,0,0,0,0,0
$GC,12269,1.56,200.0,150.5,9.9,395,12273,0.00,2.42,0.00,0.000,4,0.000,0.049,3203,174,2304,0,0,0,0,0,0
$GC,12418,1.56,200.0,135.2,10.5,409,12422,0.00,2.28,0.00,0.000,6,0.000,0.022,3203,1608,2304,0,0,0,0,0,0
$GC,12686,1.58,211.6,111.5,8.8,433,12703,0.00,0.00,11.90,0.548,6,0.000,0.000,3203,1608,2256,0,0,0,0,0,0
$GC,12963,1.67,211.6,85.4,10.1,459,12968,0.00,2.40,0.00,0.000,4,0.000,0.047,3202,176,2256,0,0,0,0,0,0
$GC,13275,1.67,211.6,52.9,10.2,487,13279,0.00,2.25,0.00,0.000,6,0.000,0.021,3203,1613,2256,0,0,0,0,0,0
$GC,13545,1.80,228.3,30.2,8.2,511,13567,0.20,2.42,15.88,0.491,4,0.048,0.044,3275,169,2188,0,0,0,0,0,0
$GC,13646,1.64,228.3,19.1,10.9,525,13655,0.25,2.28,0.00,0.000,6,0.100,0.020,3221,1603,2187,0,0,0,0,0,0
$STATE,13808,end climb,SURFACE_DEPTH_REACHED
$STATE,13808,begin surface coast
$FINISH,1.0,1.016469
$STATE,13860,end surface coast,CONTROL_FINISHED_OK
$STATE,13860,begin surface
$SM_CCo,13881,73.57,0.066,0,0,1569,380.21
$SM_GC,1.98,0.00,0.00,73.57,0.000,0.000,0.066,404,1812,1569,-11.30,0.62,380.21
$IRIDIUM_FIX,2239.35,-15759.32,190400,171732
$TT8_MAMPS,0.027612
$HUMID,50.03
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,20.80
$XPDR_PINGS,1
$24V_AH,22.9,75.638
$10V_AH,9.8,66.810
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.400,145.925,325.550,73.575,0.000,23.167,33.050,408.503,0.250,0.000,34.737,1301.896,9392.626,486.813,2575.712,833.691,33.375,1554.594,0.000,2533.044,0.000,0.536,0.000
$DEVICE_MAMPS,198.653,79.001,1168.908,65.962,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.977,295.212,367.873,539.330,953.877,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,44765,558
$CAP_FILE_SIZE,147392,0
$CFSIZE,260165632,138629120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250111,015748,2250.284,-15757.117,39,1.8,50,10.1